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A firearms officer, referred to as I7, told Monday's hearing at Peterborough Town Hall that as his police car arrived at the scene he heard a bang and saw Mr Davies fire a shot from an upstairs window.

"As I'm getting out of the vehicle I see Mr Davies appear at the window... I could see a small barrel with his hands ... and fire one shot," he said.

"There was a loud bang, quite a lot of smoke from near his hands and a flash of light."

Richard Davies was shot dead by police in his marital home who died

He said it looked like the firearm was being pointed towards where two other police vehicles were parked.

I7 described how Mr Davies disappeared out of sight before reappearing at the upstairs window.

"I believed he had already shot at police and I believed he was about to do it again," he said.

"Believing that there was an immediate threat I aimed at the centre of what I could see, which was the middle of his chest, and fired one shot to try and stop him firing again."

I7 said he took the shot with his Heckler and Koch G36 carbine, a police-issue assault rifle.